CN110728484A - Intelligent warehouse dispatching method and device based on unmanned aerial vehicle, intelligent warehouse and storage medium - Google Patents
Intelligent warehouse dispatching method and device based on unmanned aerial vehicle, intelligent warehouse and storage medium Download PDFInfo
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Abstract
The invention discloses an intelligent cabin dispatching method and device based on an unmanned aerial vehicle, an intelligent cabin and a storage medium. The method comprises the following steps: receiving a first dispatch request sent by a first unmanned aerial vehicle; if a second dispatch request of at least one second unmanned aerial vehicle at the same door is received in the first unmanned aerial vehicle dispatch process, allocating the second unmanned aerial vehicle to an idle door for dispatching; and receiving the first unmanned aerial vehicle express mail and the second unmanned aerial vehicle express mail and storing the first unmanned aerial vehicle express mail and the second unmanned aerial vehicle express mail to a goods shelf. The technical scheme provided by the embodiment of the invention solves the problem that the existing express cabinet for unmanned aerial vehicle distribution can only allow one unmanned aerial vehicle to dispatch, realizes that the intelligent warehouse can receive more than two unmanned aerial vehicles to dispatch at the same time, provides a dispatching scheme for the unmanned aerial vehicles needing to dispatch at the same warehouse door at the same time, and further improves the dispatching efficiency.
Description
Technical Field
The embodiment of the invention relates to the technical field of logistics, in particular to an intelligent warehouse dispatch method and device based on an unmanned aerial vehicle, an intelligent warehouse and a storage medium.
Background
With the rapid development of electronic commerce, the demand for the logistics industry is higher and higher. Use traditional express delivery cabinet to need the express delivery person to go to each express delivery cabinet position and scan the waybill one by one and confirm the addressee information and send the piece, very extravagant manpower has influenced the efficiency of sending a piece, especially puts in comparatively far away area to some, or the express delivery cabinet in the area is inconvenient to reach by some express delivery persons.
The prior art provides an express delivery cabinet towards unmanned aerial vehicle delivery, put in the express delivery dolly by unmanned aerial vehicle, but letter sorting dolly horizontal migration to the position of appointed cabinet check top, appointed cabinet check stretch out and connect the flitch after the letter sorting dolly with the express delivery top drop and slide to connect the flitch along the slide, take the express delivery back to the cabinet check by connecting the flitch again, realized receiving the process that unmanned aerial vehicle delivered the express delivery. But current express delivery cabinet towards unmanned aerial vehicle delivery can only allow an unmanned aerial vehicle to send the piece simultaneously, can't satisfy express delivery volume demand today.
Disclosure of Invention
The invention provides an intelligent warehouse dispatching method and device based on an unmanned aerial vehicle, an intelligent warehouse and a storage medium, aims to solve the problem that the existing express cabinet for unmanned aerial vehicle distribution can only allow one unmanned aerial vehicle to dispatch at the same time, provides a dispatching scheme for a plurality of unmanned aerial vehicles needing to dispatch at the same warehouse door at the same time, and further improves dispatching efficiency.
In a first aspect, an embodiment of the present invention provides an intelligent warehouse dispatch method based on an unmanned aerial vehicle, where the method includes:
receiving a first dispatch request sent by a first unmanned aerial vehicle;
if a second dispatch request of at least one second unmanned aerial vehicle at the same door is received in the first unmanned aerial vehicle dispatch process, allocating the second unmanned aerial vehicle to an idle door for dispatching;
and receiving the first unmanned aerial vehicle express mail and the second unmanned aerial vehicle express mail and storing the first unmanned aerial vehicle express mail and the second unmanned aerial vehicle express mail to a goods shelf.
In a second aspect, an embodiment of the present invention further provides an intelligent warehouse dispatching device based on an unmanned aerial vehicle, where the device includes:
the dispatch request receiving module is used for receiving a first dispatch request sent by a first unmanned machine;
the allocation module is used for allocating the second unmanned aerial vehicle to an idle door for dispatching if a second dispatching request of at least one second unmanned aerial vehicle at the same door is received in the first unmanned aerial vehicle dispatching process;
and the express receiving module is used for receiving the first unmanned aerial vehicle express and the second unmanned aerial vehicle express and storing the first unmanned aerial vehicle express and the second unmanned aerial vehicle express to a goods shelf.
In a third aspect, an embodiment of the present invention further provides an intelligent cabin, where the intelligent cabin includes:
one or more processors;
a memory for storing one or more programs;
the camera is used for measuring the height of the express mail and identifying express mail information;
the plurality of travelling mechanisms are used for receiving and storing the express mails according to the instruction of the processor;
when executed by the one or more processors, cause the one or more processors to implement the drone-based smart bin dispatch method provided by any of the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method for intelligent unmanned aerial vehicle-based dispatch provided in any embodiment of the present invention.
The embodiment of the invention provides an intelligent warehouse dispatch scheme based on an unmanned aerial vehicle, which is characterized in that a first dispatch request sent by a first unmanned aerial vehicle is received, if a second dispatch request of at least one second unmanned aerial vehicle at the same warehouse door is received in the first unmanned aerial vehicle dispatch process, the second unmanned aerial vehicle is dispatched to an idle warehouse door for dispatching, and then the intelligent warehouse receives the first unmanned aerial vehicle express and the second unmanned aerial vehicle express and stores the first unmanned aerial vehicle express and the second unmanned aerial vehicle express to a goods shelf. The problem of present express delivery cabinet towards unmanned aerial vehicle delivery can only allow an unmanned aerial vehicle to send simultaneously is solved, realized that the intelligence storehouse receives more than two unmanned aerial vehicles simultaneously and send the piece to unmanned aerial vehicle who sends the piece in same door simultaneously provides the allotment scheme for needs, further improves and sends an efficiency.
Drawings
Fig. 1 is a flowchart of an intelligent warehouse dispatch method based on an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of an intelligent warehouse dispatch method based on an unmanned aerial vehicle according to a second embodiment of the present invention;
fig. 3 is a flowchart of an intelligent warehouse dispatch method based on an unmanned aerial vehicle according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an intelligent warehouse dispatch device based on an unmanned aerial vehicle according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of an intelligent cabin provided in the fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1 is a flowchart of an intelligent warehouse dispatch method based on an unmanned aerial vehicle according to an embodiment of the present invention. The method can be executed by the intelligent warehouse dispatch device based on the unmanned aerial vehicle, and the device can be realized in a hardware and/or software mode and can be integrated in the intelligent warehouse.
On the basis in current intelligent storehouse, increase two at least door at intelligent storehouse top for receive the express mail that unmanned aerial vehicle dispatched, with the goods shelves subregion in the intelligent storehouse, preferably, a plurality of goods shelves length set up to isometric. Every door and running gear, goods shelves and tray deposit the district one-to-one, and every door disposes a running gear promptly, a set of goods shelves and a tray that contains not unidimensional tray and deposits the district, and wherein running gear is used for obtaining can move about from top to bottom or rotate in order to deposit the express mail appointed goods shelves position after the express mail, and the tray of not unidimensional can be selected according to the size of express mail. Optionally, the traveling mechanisms corresponding to the at least two doors may share a set of slide rails, wherein the slide rails are located below the traveling mechanisms and used for supporting the traveling mechanisms to move along the slide rails. The two walking mechanisms can mutually transmit a tray for supporting the express mail and the express mail. Optionally, the multiple sets of shelves may be arranged along a straight line or a circular ring, the traveling mechanism may transmit the tray and the express to other traveling mechanisms adjacent to the left or right, and the multiple sets of shelves may be arranged along a cross line, so that the traveling mechanism may first run to the cross point and then transmit the tray and the express to other traveling mechanisms in the target direction. Optionally, a depth camera is arranged near the lower part of each bin gate and used for acquiring express mail size, express mail information and the like.
As shown in fig. 1, the method for dispatching the intelligent warehouse based on the unmanned aerial vehicle specifically comprises the following steps:
and S11, receiving a first dispatch request sent by the first unmanned aerial vehicle.
In this embodiment, the first unmanned machine refers to an unmanned machine which arrives at one of the doors of the intelligent warehouse to dispatch when the door is in an idle state, and the first dispatch request is a dispatch request sent after the first unmanned machine arrives to prompt the intelligent warehouse to receive an express.
And S12, if a second dispatch request of at least one second unmanned aerial vehicle at the same door is received in the first unmanned aerial vehicle dispatch process, allocating the second unmanned aerial vehicle to the idle door for dispatching.
In this embodiment, the first unmanned dispatch process refers to a process from the receiving of a first dispatch request sent by a first unmanned aerial vehicle to the completion of the storage of a first unmanned express on a target shelf from an intelligent warehouse, the second unmanned aerial vehicle refers to an unmanned aerial vehicle with a warehouse door in an occupied state when arriving, and the second dispatch request is also the dispatch request sent by the second unmanned aerial vehicle. And if a second dispatch request of at least one second unmanned aerial vehicle at the same door is received in the first unmanned aerial vehicle dispatch process, allocating the second unmanned aerial vehicle to other idle doors for dispatching.
And S13, receiving the first unmanned aerial vehicle express mail and the second unmanned aerial vehicle express mail and storing the first unmanned aerial vehicle express mail and the second unmanned aerial vehicle express mail to a shelf.
After all unmanned aerial vehicles all distribute idle storehouse door, the express mail is received and automatic depositing to goods shelves in intelligent storehouse. Optionally, the first unmanned aerial vehicle is not allocated, so that the first unmanned aerial vehicle express mail is stored according to the preset shelf position, and the second unmanned aerial vehicle is allocated to determine a shelf position to store outside the preset shelf position under the corresponding bin gate after allocation.
Optionally, because the second unmanned aerial vehicle is deployed, whether the second unmanned aerial vehicle is allocated with an idle bin gate or not is also considered for the receiving of the second unmanned aerial vehicle express mail in the intelligent bin, and then the first unmanned aerial vehicle express mail and the second unmanned aerial vehicle express mail are received and stored to a goods shelf, including:
if the second unmanned aerial vehicles are all allocated to the idle bin gate, the travelling mechanism corresponding to the bin gate where the second unmanned aerial vehicles are located acquires the tray corresponding to the tray storage area and moves to the corresponding bin gate;
opening a bin gate where the second unmanned aerial vehicle is located;
the traveling mechanism acquires a second unmanned aerial vehicle express item above the corresponding bin gate;
closing a bin gate where the second unmanned aerial vehicle is located;
measuring the height and weight of the second unmanned aerial vehicle express, and verifying the second unmanned aerial vehicle express information;
and if the information verification of the second unmanned aerial vehicle express is successful, storing the second unmanned aerial vehicle express to a target shelf by utilizing a travelling mechanism corresponding to the bin gate where the second unmanned aerial vehicle is located.
Through utilizing running gear to transport the express mail, can solve the current problem that increases the express mail damage possibility that causes because of the mode that adopts the landing express mail towards the express delivery cabinet of unmanned aerial vehicle delivery, running gear can be more peaceful be sent to the assigned position with the express mail of comparing, simultaneously through the verification to express mail information, has strengthened the order nature of intelligent storehouse to express mail management, has avoided the express mail that has predetermined goods shelves position to have not had the condition of depositing the position when unmanned aerial vehicle sends to intelligent storehouse.
Optionally, because the door is idle when first unmanned aerial vehicle reachs, so the receipt of intelligent storehouse to first unmanned aerial vehicle express mail is according to the process execution when single unmanned aerial vehicle docks intelligent storehouse and carries out the express mail and deliver, then receive first unmanned aerial vehicle express mail and second unmanned aerial vehicle express mail and deposit to goods shelves, still can include:
a travelling mechanism corresponding to the door where the first unmanned machine is located acquires a tray corresponding to the tray storage area and moves to the corresponding door;
opening a bin door where the first unmanned aerial vehicle is located;
the walking mechanism obtains a first unmanned express item above the corresponding bin gate;
closing the bin gate where the first unmanned machine is located;
measuring the height and weight of the first unmanned aerial vehicle express, and verifying the information of the first unmanned aerial vehicle express;
and if the verification of the information of the first unmanned express is successful, storing the first unmanned express to a target shelf by utilizing a travelling mechanism corresponding to the door where the first unmanned express is located, and if the verification fails, restarting the door and informing the first unmanned express to take the returned piece.
Optionally, if the second unmanned aerial vehicles are not all deployed to the idle gate, a parking instruction is sent to the second unmanned aerial vehicle which is not deployed to the idle gate, so that the second unmanned aerial vehicle which is not deployed to the idle gate is parked on the top platform of the intelligent cabin until the idle gate exists, and the second unmanned aerial vehicle which is not deployed to the idle gate is deployed to the idle gate. Specifically, when the second unmanned aerial vehicle that is not allocated to the idle door stops at the top platform in intelligent storehouse, wait for all doors that contain first unmanned aerial vehicle and second unmanned aerial vehicle place, until the idle door appears after, allocate the second unmanned aerial vehicle that is not allocated to the idle door to this idle door and deposit the piece. The second unmanned aerial vehicle which is not allocated to the idle door can stop running in the waiting process, so that energy is saved.
In summary, according to the technical scheme provided by the embodiment of the invention, a deployment scheme is provided for a plurality of unmanned aerial vehicles needing to dispatch items at the same door at the same time, and the unmanned aerial vehicles sending the dispatch requests later are deployed to other idle doors to dispatch the items, so that the problem that the existing express cabinet for unmanned aerial vehicle distribution can only allow one unmanned aerial vehicle to dispatch items at the same time is solved, the intelligent cabin receives more than two unmanned aerial vehicles to dispatch items at the same door at the same time, a deployment scheme is provided for the unmanned aerial vehicles needing to dispatch items at the same door at the same time, and the dispatch efficiency is further improved.
On the basis of the above scheme, optionally, after receiving the first unmanned aerial vehicle express mail and the second unmanned aerial vehicle express mail and storing the first unmanned aerial vehicle express mail and the second unmanned aerial vehicle express mail to the shelf, the method further includes:
informing the first unmanned aerial vehicle and the second unmanned aerial vehicle of successful dispatch and return;
correspondingly, in the process of receiving the first unmanned aerial vehicle express, a parking instruction is sent to the first unmanned aerial vehicle, so that the first unmanned aerial vehicle can park at the top platform of the intelligent cabin, and in the process of receiving the second unmanned aerial vehicle express, a parking instruction is sent to the second unmanned aerial vehicle, so that the second unmanned aerial vehicle can park at the top platform of the intelligent cabin.
Wherein, when informing unmanned aerial vehicle to return to the journey, can provide the used navigation line of returning to the journey or the warehouse coordinate that returns to for unmanned aerial vehicle, specifically can be the longitude and latitude in warehouse. Because the intelligent storehouse receives the unmanned aerial vehicle express mail and deposits and need certain time to goods shelves, so intelligent storehouse top platform can set up a plurality of air park and stop for unmanned aerial vehicle to make unmanned aerial vehicle deposit the in-process shutdown in the execution of intelligent storehouse, with the energy saving.
Example two
Fig. 2 is a flowchart of an intelligent warehouse dispatch method based on an unmanned aerial vehicle according to a second embodiment of the present invention. The technical scheme of the embodiment is further refined on the basis of the technical scheme, as shown in fig. 2, and specifically includes the following steps:
and S21, receiving a first dispatch request sent by the first unmanned aerial vehicle.
And S22, if a second dispatch request of at least one second unmanned aerial vehicle at the same door is received in the first unmanned aerial vehicle dispatch process, allocating the second unmanned aerial vehicle to the idle door for dispatching.
S23, if the second unmanned aerial vehicles are all allocated to the idle bin gate, the travelling mechanism corresponding to the bin gate where the second unmanned aerial vehicles are located acquires the tray corresponding to the tray storage area and moves to the corresponding bin gate.
After the second unmanned aerial vehicle is allocated to the idle bin gate, the tray that is fit for the size can be selected according to second unmanned aerial vehicle express mail size in intelligence storehouse to remove to this bin gate in order to receive second unmanned aerial vehicle express mail after obtaining this tray by the running gear that this bin gate corresponds.
And S24, opening a door where the second unmanned aerial vehicle is located.
Optionally, when the second unmanned aerial vehicle reaches a certain distance range from the door, the door where the second unmanned aerial vehicle is located is opened.
S25, the traveling mechanism obtains the second unmanned aerial vehicle express mail above the corresponding cabin door.
Optionally, the running gear may ascend to a hatch opening to receive a second unmanned aerial vehicle express, or descend by the unmanned aerial vehicle to drop the second unmanned aerial vehicle express.
And S26, closing the door where the second unmanned aerial vehicle is located.
Optionally, after the travelling mechanism acquires the express mail of the second unmanned aerial vehicle, the travelling mechanism can descend to a position where the express mail is lower than the door height, and then the door where the second unmanned aerial vehicle is located is closed.
And S27, measuring the height and weight of the second unmanned aerial vehicle express mail, and verifying the second unmanned aerial vehicle express mail information.
Optionally, the depth camera near the lower portion of the bin gate is used for obtaining the size and the information of the second unmanned aerial vehicle express, wherein the size of the express can comprise the length, the width and/or the height of the express, the information of the express can comprise an invoice number, a receiver name and/or a receiver contact way and the like, and the weight of the second unmanned aerial vehicle express is obtained by the weight measuring device carried by the walking mechanism. After the express mail size and the express mail information are obtained, the express mail size and the express mail information at the preset shelf position can be compared to verify so as to avoid the situation that the existing express mail at the preset shelf position is not stored when being sent to the intelligent bin by the unmanned aerial vehicle.
S28, if the goods shelf under the bin gate where the at least one second unmanned aerial vehicle is located is a full goods shelf, the travelling mechanism corresponding to the full goods shelf waits for the travelling mechanism on the target goods shelf path to execute the express delivery and then stores the express delivery, the tray bearing the express delivery of the second unmanned aerial vehicle is connected to the travelling mechanism on the target goods shelf path, and the travelling mechanism on the target goods shelf path stores the express delivery of the second unmanned aerial vehicle to the target goods shelf.
And if the information verification of the second unmanned aerial vehicle express is successful, storing the second unmanned aerial vehicle express to a target shelf by utilizing a travelling mechanism corresponding to the bin gate where the second unmanned aerial vehicle is located. But because second unmanned aerial vehicle is through temporary deployment, so there is the possibility that the door corresponds the goods shelves and be full load state after the deployment, can have not had parking space. Optionally, if the shelf is fully loaded, the express mail can be stored on the shelf with storage space in all the shelves corresponding to the gates where the first unmanned aerial vehicle and the second unmanned aerial vehicle are located through the handover between the traveling mechanisms, and the shelf determined to store the express mail is set as the target shelf. Optionally, a shelf closest to the full shelf and capable of serving as a target shelf is selected as the target shelf, and the path from the full shelf to the target shelf may include at least one traveling mechanism, so that at least one handover operation can be performed. Particularly, the running gear that full cargo shelf corresponds need wait for to go to the running gear on the target goods shelves route and carry out the express mail and deposit the back, has handing over the tray that the second unmanned aerial vehicle express mail has to the running gear on the target goods shelves route with the bearing, deposits the second unmanned aerial vehicle express mail to the target goods shelves by the running gear on the target goods shelves route. Optionally, if the target shelf is a shelf where the first unmanned aerial vehicle is located, namely the originally-scheduled shelf of the second unmanned aerial vehicle, the second unmanned aerial vehicle express is stored to the scheduled shelf position, so that the intelligent warehouse can count the shelf space.
In summary, according to the technical scheme provided by the embodiment of the invention, the express items are connected among the travelling mechanisms, so that the problem that the storage space of the storage rack under the door where the unmanned aerial vehicle is allocated does not exist after the unmanned aerial vehicle is allocated is solved, the unmanned aerial vehicle is not required to be taken back and put again, and the intelligent storage efficiency and the flexibility of the use of the storage rack are improved.
EXAMPLE III
Fig. 3 is a flowchart of an intelligent warehouse dispatch method based on an unmanned aerial vehicle according to a third embodiment of the present invention. The technical scheme of this embodiment further refines on the basis of above-mentioned technical scheme, has increased the process that the intelligence storehouse carries out reservation dispatch before unmanned aerial vehicle dispatch, as shown in fig. 3, specifically includes the following step:
and S31, receiving the first unmanned aerial vehicle reservation dispatch order and the second unmanned aerial vehicle reservation dispatch order.
Optionally, before the unmanned aerial vehicle dispatches, the size, weight, freight note information and the like of the express can be sent to the intelligent warehouse matched with the address of the addressee, and the dispatch time is reserved.
And S32, matching the tray and the target shelf according to the first unmanned machine appointment delivery order, and if the matching is successful, sending the matched bin gate position to the first unmanned machine.
After the intelligent bin receives the first unmanned dispatch appointment order, the size of the tray is matched according to the express information, and the available goods shelf is distributed to serve as a target goods shelf of the first unmanned express. And if the matching is successful, sending the matched position of the door to the first unmanned machine, and specifically sending the longitude and latitude or a specific route of the position of the door to the first unmanned machine.
And S33, matching the tray and the target shelf according to the reserved dispatch order of the second unmanned aerial vehicle, and if the matching is successful, sending the matched bin gate position to the second unmanned aerial vehicle.
After the intelligent cabin receives the reserved dispatch order of the second unmanned aerial vehicle, the size of the tray is matched according to the express information, and the available goods shelf is distributed to be used as the target goods shelf of the second unmanned aerial vehicle express. And if the matching is successful, sending the matched position of the door to the second unmanned aerial vehicle, and specifically sending the longitude and latitude or the specific route of the position of the door to the second unmanned aerial vehicle.
And S34, receiving a first dispatch request sent by the first unmanned aerial vehicle.
And S35, if a second dispatch request of at least one second unmanned aerial vehicle at the same door is received in the first unmanned aerial vehicle dispatch process, allocating the second unmanned aerial vehicle to the idle door for dispatching.
And S36, receiving the first unmanned aerial vehicle express mail and the second unmanned aerial vehicle express mail and storing the first unmanned aerial vehicle express mail and the second unmanned aerial vehicle express mail to a shelf.
On the basis of the foregoing technical solution, optionally, after receiving the first dispatch request sent by the first drone, the method further includes:
verifying the first unmanned identity and the first unmanned appointment dispatch order information;
if the verification fails, opening a warehouse door where the first unmanned aerial vehicle is located, informing the first unmanned aerial vehicle that the delivery of the parts cannot be carried out and taking the returned parts;
after receiving a second dispatch request of at least one second drone at the same gate, the method further comprises:
verifying the identity of the second unmanned aerial vehicle and the reservation dispatch order information of the second unmanned aerial vehicle;
if the verification fails, a door where the second unmanned aerial vehicle is located is opened, the second unmanned aerial vehicle is informed that the second unmanned aerial vehicle cannot dispatch the piece and take the backing piece.
The identity of the unmanned aerial vehicle can be verified through the ID number of the unmanned aerial vehicle, and specifically, the identity of the unmanned aerial vehicle can be verified by receiving the mode that the unmanned aerial vehicle sends self-related information or scans a two-dimensional code of a machine body and the like.
In summary, according to the technical scheme provided by the embodiment of the invention, the process of reserving and dispatching the unmanned aerial vehicle is performed before dispatching the unmanned aerial vehicle, so that the problem that the unmanned aerial vehicle cannot dispatch the unmanned aerial vehicle due to no storage space when the unmanned aerial vehicle reaches the intelligent bin is avoided, and the dispatching efficiency of the unmanned aerial vehicle is improved.
Optionally, the intelligent cabin configured with two cabin doors is taken as an example, and the process of two unmanned aerial vehicles going to the same cabin door for sending the piece is described. The intelligent warehouse dispatch method based on the unmanned aerial vehicle comprises the following steps:
receiving the reservation dispatch orders of the two unmanned aerial vehicles, and respectively matching trays and target shelves for the express to be dispatched by the two unmanned aerial vehicles according to the reservation dispatch orders so as to ensure that the shelf positions for storing the express exist when the unmanned aerial vehicles reach the intelligent bin. When the unmanned aerial vehicle arrives near the intelligent bin, the unmanned aerial vehicle dispatching request is received, the unmanned aerial vehicle which receives the dispatching request firstly is a first unmanned aerial vehicle, the unmanned aerial vehicle which receives the dispatching request later is a second unmanned aerial vehicle, the first unmanned aerial vehicle arrives at the bin gate and is a first bin gate, and the opposite side bin gate of the first bin gate is a second bin gate. And after receiving the first unmanned dispatch request and completing verification of the identity of the first unmanned aerial vehicle and the first unmanned aerial vehicle appointment dispatch order information, the travelling mechanism under the first warehouse door executes a task of acquiring the express and storing the express to a target shelf. And in the process of executing the first unmanned aerial vehicle storage task, if the received second unmanned aerial vehicle dispatch request is also under the first door, allocating the second unmanned aerial vehicle to the second door for dispatching. But the goods shelf position that intelligent storehouse reserved for the second unmanned aerial vehicle is under first storehouse door, so probably there is not the condition that is used for depositing the goods shelf position of second unmanned aerial vehicle express mail under the second storehouse door. If the position of the goods shelf is not available, the travelling mechanism under the second bin gate waits for the travelling mechanism under the first bin gate to execute the express delivery and store, the tray bearing the express delivery of the second unmanned aerial vehicle is delivered to the travelling mechanism under the first bin gate, and the travelling mechanism under the first bin gate stores the express delivery of the second unmanned aerial vehicle to the target goods shelf. Optionally, the target shelf of the second unmanned aerial vehicle express may be an appointment shelf position obtained after the second unmanned aerial vehicle sends an appointment dispatch order. And finally, after the task of storing the first unmanned aerial vehicle express is executed, the first unmanned aerial vehicle can be informed of successful dispatch and return voyage, and after the task of storing the second unmanned aerial vehicle express is executed, the second unmanned aerial vehicle can be informed of successful dispatch and return voyage. Optionally, when the task that the express mail was deposited is carried out, can stop unmanned aerial vehicle at the top platform in intelligent storehouse to the energy saving.
Example four
Fig. 4 is a schematic structural diagram of an intelligent warehouse dispatch device based on an unmanned aerial vehicle according to a fourth embodiment of the present invention. The device can be realized by hardware and/or software, can be integrated in an intelligent cabin, and is used for executing the unmanned aerial vehicle-based intelligent cabin dispatch method provided by any embodiment of the invention. As shown in fig. 4, the apparatus includes:
a dispatch request receiving module 41, configured to receive a first dispatch request sent by a first unmanned machine;
the allocating module 42 is configured to allocate, if a second allocation request of at least one second unmanned aerial vehicle to the same gate is received in the first unmanned aerial vehicle allocation process, the second unmanned aerial vehicle to an idle gate for allocation;
and the express receiving module 43 is used for receiving the first unmanned aerial vehicle express and the second unmanned aerial vehicle express and storing the first unmanned aerial vehicle express and the second unmanned aerial vehicle express to a goods shelf.
According to the technical scheme provided by the embodiment of the invention, the allocation scheme is provided for a plurality of unmanned aerial vehicles needing to send the parcels at the same bin gate at the same time, and the unmanned aerial vehicles sending the parcel request later are allocated to other idle bin gates for the parcels, so that the problem that the existing express cabinet for unmanned aerial vehicle distribution can only allow one unmanned aerial vehicle to send the parcels at the same time is solved, the intelligent bin can receive more than two unmanned aerial vehicles at the same time for the parcels, the allocation scheme is provided for the unmanned aerial vehicles needing to send the parcels at the same bin gate at the same time, and the parcel sending efficiency is further improved.
Optionally, the express receiving module includes:
the tray acquisition sub-module is used for acquiring a tray corresponding to the tray storage area and moving the tray to a corresponding bin gate if the second unmanned aerial vehicles are allocated to the idle bin gate;
the bin gate opening submodule is used for opening a bin gate where the second unmanned aerial vehicle is located;
the express item acquisition sub-module is used for acquiring a second unmanned aerial vehicle express item above the corresponding cabin door by the travelling mechanism;
the cabin door closing submodule is used for closing a cabin door where the second unmanned aerial vehicle is located;
the information verification submodule is used for measuring the height and weight of the second unmanned aerial vehicle express and verifying the information of the second unmanned aerial vehicle express;
and the express mail storage submodule is used for storing the second unmanned aerial vehicle express mail to a target shelf by utilizing a travelling mechanism corresponding to the bin gate where the second unmanned aerial vehicle is located if the second unmanned aerial vehicle express mail information is successfully verified.
Optionally, the express receiving module further includes:
and the parking sub-module is used for sending a parking instruction to the second unmanned aerial vehicle which is not allocated to the idle door if the second unmanned aerial vehicle is not allocated to the idle door, so that the second unmanned aerial vehicle which is not allocated to the idle door is parked on the top platform of the intelligent cabin until the idle door exists, and the second unmanned aerial vehicle which is not allocated to the idle door is allocated to the idle door.
Optionally, the express receiving module further includes:
and the handover sub-module is used for handing over the tray bearing the second unmanned aerial vehicle express to the running mechanism on the target shelf path after the running mechanism corresponding to the full-load shelf waits for the running mechanism on the target shelf path to execute the express to be stored if the shelf under the bin gate where the at least one second unmanned aerial vehicle is positioned is the full-load shelf after verifying the express information of the second unmanned aerial vehicle express, and storing the second unmanned aerial vehicle express to the target shelf by the running mechanism on the target shelf path.
Optionally, the apparatus further comprises:
the reservation dispatch order receiving module is used for receiving a first unmanned aerial vehicle reservation dispatch order and a second unmanned aerial vehicle reservation dispatch order before receiving a first dispatch request sent by a first unmanned aerial vehicle;
the first goods shelf matching module is used for matching the tray and the target goods shelf according to the first unmanned aerial vehicle reserved delivery order, and sending the matched bin gate position to the first unmanned aerial vehicle if the matching is successful;
and the second goods shelf matching module is used for matching the tray and the target goods shelf according to the reserved delivery order of the second unmanned aerial vehicle, and sending the matched bin gate position to the second unmanned aerial vehicle if the matching is successful.
Optionally, the apparatus further comprises:
the first verification module is used for verifying the identity of the first unmanned machine and the first unmanned machine reservation dispatch order information after receiving a first dispatch request sent by the first unmanned machine;
the first returning module is used for opening a bin gate where the first unmanned aerial vehicle is located if the verification fails, informing the first unmanned aerial vehicle that the first unmanned aerial vehicle cannot dispatch the piece and taking a returned piece;
the second verification module is used for verifying the identity of the second unmanned aerial vehicle and the reserved dispatch order information of the second unmanned aerial vehicle after receiving a second dispatch request of at least one second unmanned aerial vehicle at the same door;
and the second piece returning module is used for opening a bin gate where the second unmanned aerial vehicle is located if the verification fails, informing the second unmanned aerial vehicle that the piece cannot be sent and the piece returned can be taken.
Optionally, the apparatus further comprises:
and the return flight notification module is used for notifying the first unmanned aerial vehicle and the second unmanned aerial vehicle that the dispatch is successful and the return flight is carried out after the first unmanned aerial vehicle and the second unmanned aerial vehicle are received and stored to the goods shelf.
And the parking instruction sending module is used for sending a parking instruction to the first unmanned aerial vehicle in the process of receiving the first unmanned aerial vehicle express, so that the first unmanned aerial vehicle can park at the top platform of the intelligent warehouse, and sending a parking instruction to the second unmanned aerial vehicle in the process of receiving the second unmanned aerial vehicle express, so that the second unmanned aerial vehicle can park at the top platform of the intelligent warehouse.
The intelligent cabin dispatching device based on the unmanned aerial vehicle can execute the intelligent cabin dispatching method based on the unmanned aerial vehicle provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
It should be noted that, in the above embodiment of the intelligent warehouse dispatching device based on the unmanned aerial vehicle, the included units and modules are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a smart bin provided in the fifth embodiment of the present invention, and shows a block diagram of an exemplary smart bin 50 suitable for implementing an embodiment of the present invention. The smart bin 50 shown in fig. 5 is merely an example and should not impose any limitation on the functionality and scope of use of embodiments of the present invention. As shown in fig. 5, the smart bin includes a processor 51, a memory 52, a camera 53, and a walking mechanism 54; the number of the processors 51 in the smart bin 50 may be one or more, one processor 51 is taken as an example in fig. 5, the number of the traveling mechanisms 54 in the smart bin 50 may be more than two, and two traveling mechanisms 54 are taken as an example in fig. 5; the processor 51, the memory 52, the camera 53 and the walking mechanism 54 in the smart bin 50 may be connected by a bus or other means, as exemplified by the bus connection in fig. 5.
The memory 52 serves as a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the unmanned aerial vehicle-based intelligent warehouse dispatch method in the embodiment of the present invention (for example, the dispatch request receiving module 41, the dispatching module 42, and the express receiving module 43 in the unmanned aerial vehicle-based intelligent warehouse dispatch device). The processor 51 executes various functional applications and data processing of the smart silo by running software programs, instructions and modules stored in the memory 52, that is, the above-mentioned unmanned aerial vehicle-based smart silo dispatch method is implemented.
The memory 52 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the smart bin, and the like. Further, the memory 52 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 52 may further include memory located remotely from the processor 51, which may be connected to the smart silo through a network.
EXAMPLE six
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a method for intelligent bin dispatching based on unmanned aerial vehicles, the method including:
receiving a first dispatch request sent by a first unmanned aerial vehicle;
if a second dispatch request of at least one second unmanned aerial vehicle at the same door is received in the first unmanned aerial vehicle dispatch process, allocating the second unmanned aerial vehicle to an idle door for dispatching;
and receiving the first unmanned aerial vehicle express mail and the second unmanned aerial vehicle express mail and storing the first unmanned aerial vehicle express mail and the second unmanned aerial vehicle express mail to a goods shelf.
Storage medium-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Lanbas (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the computer system in which the program is executed, or may be located in a different second computer system connected to the computer system through a network (such as the internet). The second computer system may provide the program instructions to the computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the unmanned aerial vehicle-based smart bin dispatch method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (15)
1. An intelligent warehouse dispatch method based on an unmanned aerial vehicle is characterized by comprising the following steps:
receiving a first dispatch request sent by a first unmanned aerial vehicle;
if a second dispatch request of at least one second unmanned aerial vehicle at the same gate is received in the dispatch process of the first unmanned aerial vehicle, allocating the second unmanned aerial vehicle to the idle gate for dispatching;
and receiving the first unmanned aerial vehicle express mail and the second unmanned aerial vehicle express mail and storing the first unmanned aerial vehicle express mail and the second unmanned aerial vehicle express mail to a goods shelf.
2. The unmanned-aerial-vehicle-based smart bin dispatch method of claim 1, wherein the receiving and depositing the first and second unmanned aerial vehicles to a shelf comprises:
if the second unmanned aerial vehicles are all allocated to the idle bin gate, the travelling mechanism corresponding to the bin gate where the second unmanned aerial vehicles are located acquires the tray corresponding to the tray storage area and moves to the corresponding bin gate;
opening the door where the second unmanned aerial vehicle is located;
the traveling mechanism acquires the second unmanned aerial vehicle express mail corresponding to the upper part of the bin gate;
closing the door where the second unmanned aerial vehicle is located;
measuring the height and weight of the second unmanned aerial vehicle express, and verifying the second unmanned aerial vehicle express information;
and if the verification of the express information of the second unmanned aerial vehicle is successful, storing the express of the second unmanned aerial vehicle to a target shelf by utilizing the travelling mechanism corresponding to the bin gate where the second unmanned aerial vehicle is located.
3. The unmanned-aerial-vehicle-based smart bin dispatch method of claim 2, wherein the receiving the first and second unmanned aerial vehicles dispatch and depositing to a shelf further comprises:
if the second unmanned aerial vehicles are not allocated to the idle bin gates, sending parking instructions to the second unmanned aerial vehicles which are not allocated to the idle bin gates, so that the second unmanned aerial vehicles which are not allocated to the idle bin gates are parked on a top platform of an intelligent bin until the idle bin gates exist, and allocating the second unmanned aerial vehicles which are not allocated to the idle bin gates.
4. The drone-based smart bin dispatch method of claim 2, further comprising, after the verifying the second drone dispatch information:
if the goods shelf under the bin gate where the at least one second unmanned aerial vehicle is located is a full goods shelf, the travelling mechanism corresponding to the full goods shelf transfers the tray bearing the second unmanned aerial vehicle express to the travelling mechanism on the target goods shelf path after the travelling mechanism on the target goods shelf path executes the express storage, and the travelling mechanism on the target goods shelf path stores the second unmanned aerial vehicle express to the target goods shelf.
5. The drone-based smart bin dispatch method of claim 1, further comprising, prior to the receiving a first dispatch request sent by a first drone:
receiving the first unmanned aerial vehicle appointment dispatch order and the second unmanned aerial vehicle appointment dispatch order;
matching a tray and a target shelf according to the first unmanned machine appointment delivery order, and if the matching is successful, sending the matched bin gate position to the first unmanned machine;
and matching the tray and the target shelf according to the reserved dispatch order of the second unmanned aerial vehicle, and if the matching is successful, sending the matched bin gate position to the second unmanned aerial vehicle.
6. The drone-based smart bin dispatch method of claim 5, further comprising, after the receiving a first dispatch request sent by a first drone:
verifying the first unmanned identity and the first unmanned appointment dispatch order information;
if the verification fails, opening the warehouse door where the first unmanned aerial vehicle is located, informing the first unmanned aerial vehicle that the delivery of the item cannot be carried out and taking a backspacing item;
after the receiving a second dispatch request for at least one second drone at the same gate, further comprising:
verifying the identity of the second unmanned aerial vehicle and the reserved dispatch order information of the second unmanned aerial vehicle;
if the verification fails, the door where the second unmanned aerial vehicle is located is opened, the second unmanned aerial vehicle is informed that the second unmanned aerial vehicle cannot dispatch the piece and take the backing piece.
7. The unmanned-aerial-vehicle-based smart-warehouse dispatch method of claim 1, further comprising, after the receiving the first and second unmanned aerial vehicles and depositing to a shelf:
informing the first unmanned aerial vehicle and the second unmanned aerial vehicle that the dispatch is successful and the unmanned aerial vehicle returns;
correspondingly, in the process of receiving the first unmanned aerial vehicle express, sending a parking instruction to the first unmanned aerial vehicle so as to enable the first unmanned aerial vehicle to park at the top platform of the intelligent cabin, in the process of receiving the second unmanned aerial vehicle express, sending the parking instruction to the second unmanned aerial vehicle so as to enable the second unmanned aerial vehicle to park at the top platform of the intelligent cabin.
8. The utility model provides an intelligence storehouse group spare device based on unmanned aerial vehicle which characterized in that includes:
the dispatch request receiving module is used for receiving a first dispatch request sent by a first unmanned machine;
the allocation module is used for allocating at least one second unmanned aerial vehicle to the idle bin gate for dispatching if a second dispatching request of the second unmanned aerial vehicle at the same bin gate is received in the dispatching process of the first unmanned aerial vehicle;
and the express receiving module is used for receiving the first unmanned aerial vehicle express and the second unmanned aerial vehicle express and storing the first unmanned aerial vehicle express and the second unmanned aerial vehicle express to a goods shelf.
9. The unmanned-aerial-vehicle-based intelligent warehouse dispatch device of claim 8, wherein the express receiving module comprises:
a tray obtaining sub-module, wherein if the second unmanned aerial vehicles are all allocated to the idle bin gate, a travelling mechanism corresponding to the bin gate where the second unmanned aerial vehicles are located obtains a tray corresponding to the tray storage area and moves to the corresponding bin gate;
the bin gate opening submodule is used for opening the bin gate where the second unmanned aerial vehicle is located;
the express item acquisition sub-module is used for acquiring the second unmanned aerial vehicle express item above the corresponding cabin door by the travelling mechanism;
a door closing submodule for closing the door where the second unmanned aerial vehicle is located;
the information verification submodule is used for measuring the height and weight of the second unmanned aerial vehicle express and verifying the second unmanned aerial vehicle express information;
and the express mail storage sub-module is used for storing the second unmanned aerial vehicle express mail to a target shelf by utilizing the travelling mechanism corresponding to the bin gate where the second unmanned aerial vehicle is located if the second unmanned aerial vehicle express mail information is successfully verified.
10. The unmanned-aerial-vehicle-based intelligent warehouse dispatch device of claim 9, wherein the express receiving module further comprises:
a docking sub-module, configured to send a docking instruction to the second unmanned aerial vehicle that is not deployed to the idle hatch if the second unmanned aerial vehicle is not deployed to the idle hatch, so that the second unmanned aerial vehicle that is not deployed to the idle hatch is docked on a top platform of the intelligent bay until the idle hatch exists, and deploy the second unmanned aerial vehicle that is not deployed to the idle hatch.
11. The unmanned-aerial-vehicle-based intelligent warehouse dispatch device of claim 9, wherein the express receiving module further comprises:
and the handover sub-module is used for handing over the tray bearing the second unmanned aerial vehicle express to the travelling mechanism on the target shelf path after the travelling mechanism on the target shelf path stores the express, and storing the second unmanned aerial vehicle express to the target shelf by the travelling mechanism on the target shelf path if the shelf below the bin gate where the second unmanned aerial vehicle is located is a full-load shelf after the travelling mechanism corresponding to the full-load shelf waits for the travelling mechanism on the target shelf path to store the express.
12. The unmanned-aerial-vehicle-based smart bin dispatch device of claim 8, further comprising:
the reservation dispatch order receiving module is used for receiving a first unmanned aerial vehicle reservation dispatch order and a second unmanned aerial vehicle reservation dispatch order before receiving a first dispatch request sent by a first unmanned aerial vehicle;
the first goods shelf matching module is used for matching a tray and a target goods shelf according to the first unmanned aerial vehicle reserved delivery order, and sending the matched bin gate position to the first unmanned aerial vehicle if matching is successful;
and the second goods shelf matching module is used for matching the tray and the target goods shelf according to the reserved delivery order of the second unmanned aerial vehicle, and sending the matched bin gate position to the second unmanned aerial vehicle if the matching is successful.
13. The unmanned-aerial-vehicle-based smart bin dispatch device of claim 12, further comprising:
the first verification module is used for verifying the identity of the first unmanned machine and the first unmanned machine appointment dispatch order information after receiving a first dispatch request sent by the first unmanned machine;
the first piece returning module is used for opening the warehouse door where the first unmanned aerial vehicle is located if the verification fails, informing the first unmanned aerial vehicle that the piece cannot be sent and taking a returned piece;
the second verification module is used for verifying the identity of the second unmanned aerial vehicle and the reserved dispatch order information of the second unmanned aerial vehicle after receiving a second dispatch request of at least one second unmanned aerial vehicle at the same door;
and the second returning module is used for opening the bin gate where the second unmanned aerial vehicle is located if the verification fails, informing the second unmanned aerial vehicle that the second unmanned aerial vehicle cannot dispatch the piece and take the returned piece.
14. A smart silo, comprising:
one or more processors;
a memory for storing one or more programs;
the camera is used for measuring the height of the express mail and identifying the express mail information;
the plurality of travelling mechanisms are used for receiving and storing the express mails according to the processor instruction;
when executed by the one or more processors, cause the one or more processors to implement the drone-based smart bin dispatch method of any of claims 1-7.
15. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the drone-based smart bin dispatch method according to any one of claims 1 to 7.
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